rtron-math/io.rtron.math.geometry.euclidean.twod.curve/SpiralSegment2D

SpiralSegment2D

class SpiralSegment2D(curvatureFunction: LinearFunction, val tolerance: Double, val affineSequence: AffineSequence2D = AffineSequence2D.EMPTY, endBoundType: BoundType = BoundType.OPEN) : AbstractCurve2D

Spiral curve segment within a defined domain that is given by the curvatureFunction. See wikipedia article on Euler spiral.

Parameters

curvatureFunction

describes the curvature as a function of the curvePosition

endBoundType

bound type of the curve segment's end

Constructors

SpiralSegment2D

constructor(curvatureFunction: LinearFunction, tolerance: Double, affineSequence: AffineSequence2D = AffineSequence2D.EMPTY, endBoundType: BoundType = BoundType.OPEN)

Properties

affineSequence

open override val affineSequence: AffineSequence2D

List of affine transformation matrices to move and rotate the geometric object.

domain

open override val domain: Range<Double>

definable domain

endBoundType

val endBoundType: BoundType

BoundType at the end of the curve

length

val length: Double

length of the curve

tolerance

open override val tolerance: Double

tolerable threshold value

Functions

calculatePointGlobalCS

fun calculatePointGlobalCS(curveRelativePoint: CurveRelativeVector1D): Either<GeometryException.ValueNotContainedInDomain, Vector2D>

Returns the global point in the global cartesian coordinate system that is located on this curve and given by a point in the curve relative coordinate system. An error is returned, if the requested point is not within this curve's domain.

calculatePointGlobalCSUnbounded

fun calculatePointGlobalCSUnbounded(curveRelativePoint: CurveRelativeVector1D): Vector2D

Returns the global point in the global cartesian coordinate system that is located on this curve and given by a point in the curve relative coordinate system.

calculatePointLocalCS

fun calculatePointLocalCS(curveRelativePoint: CurveRelativeVector1D): Either<GeometryException.ValueNotContainedInDomain, Vector2D>

Returns the point in the local cartesian coordinate system that is located on this curve and given by a point in the curve relative coordinate system. An error is returned, if the requested point is not within this curve's domain.

calculatePoseGlobalCS

fun calculatePoseGlobalCS(curveRelativePoint: CurveRelativeVector1D): Either<GeometryException.ValueNotContainedInDomain, Pose2D>

Returns a pose at the position along the curve curveRelativePoint.

calculatePoseGlobalCSUnbounded

fun calculatePoseGlobalCSUnbounded(curveRelativePoint: CurveRelativeVector1D): Pose2D

Returns a pose at the position along the curve curveRelativePoint. An error is returned, if the requested point is not within this curve's domain.

calculateRotationGlobalCS

fun calculateRotationGlobalCS(curveRelativePoint: CurveRelativeVector1D): Either<GeometryException.ValueNotContainedInDomain, Rotation2D>

Returns the orientation in the global cartesian coordinate system that is tangential to this curve at a given point which is given in a curve relative coordinate system.

calculateRotationGlobalCSUnbounded

fun calculateRotationGlobalCSUnbounded(curveRelativePoint: CurveRelativeVector1D): Rotation2D

Returns the orientation in the global cartesian coordinate system that is tangential to this curve at a given point which is given in a curve relative coordinate system. An error is returned, if the requested point is not within this curve's domain.

calculateRotationLocalCS

fun calculateRotationLocalCS(curveRelativePoint: CurveRelativeVector1D): Either<GeometryException.ValueNotContainedInDomain, Rotation2D>

Returns the orientation in the local cartesian coordinate system that is tangential to this curve at a given point which is given in a curve relative coordinate system. An error is returned, if the requested point is not within this curve's domain.